Kauai Labs navX2-MXP User Manual page 87

Advanced
Serial Protocol
24 Velocity Y
28 Velocity Z
32 Displacement X
36 Displacement Y
40 Displacement Z
44 Quaternion W
46 Quaternion X
48 Quaternion Y
50 Quaternion Z
52 MPU Temp
54 Op. Status
55 Sensor Status
56 Cal. Status
57 Selftest Status
Stream Configuration Command
By default, a navX-sensor begins transmitting YPR Updates upon power up. The Stream Configuration
Command is sent in order to change the type of navX-sensor Streaming Update transmitted to the client.
Byte Offset
0
1
Stream Type
'y'
'g'
'p'
Stream Configuration Response
Whenever a Stream Configuration Command is received a navX-sensor responds by sending a Stream
Configuration Response message, which is formatted as follows:
Byte Offset
0
1
5
9
13
20
24
28
32
Signed 16:16 Meters/Sec
Signed 16:16 Meters/Sec
Signed 16:16 Meters
Signed 16:16 Meters
Signed 16:16 Meters
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Pi Radians Pi Radians
Signed Hundredths Centigrade
Uint8
Uint8 NAVX_SENSOR_STATUS
Uint8 NAVX_CAL_STATUS
Uint8 NAVX_SELFTEST_STATUS
Element
Stream Type
Update Rate (Hz) – Valid range:
4-60
Description
Yaw, Pitch, Roll & Compass Heading Update
Gyro (Raw) Data Update
AHRS + Position Data Update
Element
Stream Type
Gyroscope Full Scale Range
(Degrees/sec)
Accelerometer Full Scale Range
(G)
Update Rate (Hz)
Calibrated Yaw Offset (Degrees) Float
Reserved
Reserved
Reserved
Reserved
NAVX_OP_STATUS
Data Type
8-bit ASCII Character
8-bit Integer
Data Type
8-bit ASCII Character
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
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